\hypertarget{classWBC__priority}{}\doxysection{WBC\+\_\+priority Class Reference}
\label{classWBC__priority}\index{WBC\_priority@{WBC\_priority}}


Collaboration diagram for WBC\+\_\+priority\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=170pt]{classWBC__priority__coll__graph}
\end{center}
\end{figure}
\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classWBC__priority_a8c838694a7fa3038bb56923679050bea}\label{classWBC__priority_a8c838694a7fa3038bb56923679050bea}} 
{\bfseries WBC\+\_\+priority} (int model\+\_\+nv\+\_\+\+In, int QP\+\_\+nv\+In, int QP\+\_\+nc\+In, double miu\+\_\+\+In, double dt)
\item 
\mbox{\Hypertarget{classWBC__priority_ad7a8bfff2aa05dcedeb6e3e656d3c6fd}\label{classWBC__priority_ad7a8bfff2aa05dcedeb6e3e656d3c6fd}} 
void {\bfseries set\+Qini} (const Eigen\+::\+Vector\+Xd \&q\+Ini)
\item 
\mbox{\Hypertarget{classWBC__priority_adf9a6a3385417332666e2157b6903fe9}\label{classWBC__priority_adf9a6a3385417332666e2157b6903fe9}} 
void {\bfseries compute\+Tau} ()
\item 
\mbox{\Hypertarget{classWBC__priority_a7ed27e44e3d0044570620d3679f26389}\label{classWBC__priority_a7ed27e44e3d0044570620d3679f26389}} 
void {\bfseries data\+Bus\+Read} (const \mbox{\hyperlink{structDataBus}{Data\+Bus}} \&robot\+State)
\item 
\mbox{\Hypertarget{classWBC__priority_a1504c45533bea5c9b6a4a87648db0c0c}\label{classWBC__priority_a1504c45533bea5c9b6a4a87648db0c0c}} 
void {\bfseries data\+Bus\+Write} (\mbox{\hyperlink{structDataBus}{Data\+Bus}} \&robot\+State)
\item 
\mbox{\Hypertarget{classWBC__priority_a7cb65e689671b04b1b4bca685602abaa}\label{classWBC__priority_a7cb65e689671b04b1b4bca685602abaa}} 
void {\bfseries compute\+Ddq} (\mbox{\hyperlink{classPin__KinDyn}{Pin\+\_\+\+Kin\+Dyn}} \&kin\+Solver)
\end{DoxyCompactItemize}
\doxysubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classWBC__priority_a63e9d9ee61900d1c7e6c7d0e023953aa}\label{classWBC__priority_a63e9d9ee61900d1c7e6c7d0e023953aa}} 
int {\bfseries model\+\_\+nv}
\item 
\mbox{\Hypertarget{classWBC__priority_a89bb360d72ea2ceb80bcc714427978a1}\label{classWBC__priority_a89bb360d72ea2ceb80bcc714427978a1}} 
Eigen\+::\+Vector3d {\bfseries tau\+\_\+upp\+\_\+L}
\item 
\mbox{\Hypertarget{classWBC__priority_ad031c3a10312ef84c6f587a80cf7ea16}\label{classWBC__priority_ad031c3a10312ef84c6f587a80cf7ea16}} 
Eigen\+::\+Vector3d {\bfseries tau\+\_\+low\+\_\+L}
\item 
\mbox{\Hypertarget{classWBC__priority_a835eb7c5c5a382770ec08294bb3a072b}\label{classWBC__priority_a835eb7c5c5a382770ec08294bb3a072b}} 
double {\bfseries f\+\_\+z\+\_\+low} \{0\}
\item 
\mbox{\Hypertarget{classWBC__priority_a43d29119681f29138bf209c027951505}\label{classWBC__priority_a43d29119681f29138bf209c027951505}} 
double {\bfseries f\+\_\+z\+\_\+upp} \{0\}
\item 
\mbox{\Hypertarget{classWBC__priority_a3104af953a95b48eec6a05798f8b0110}\label{classWBC__priority_a3104af953a95b48eec6a05798f8b0110}} 
int {\bfseries leg\+State\+Cur}
\item 
\mbox{\Hypertarget{classWBC__priority_a8cf4c0b317a325f1d8c751a8d2fa282c}\label{classWBC__priority_a8cf4c0b317a325f1d8c751a8d2fa282c}} 
double {\bfseries miu} \{0.\+5\}
\item 
\mbox{\Hypertarget{classWBC__priority_aa7fefdac3d147714609ce1bd15edf389}\label{classWBC__priority_aa7fefdac3d147714609ce1bd15edf389}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+M}
\item 
\mbox{\Hypertarget{classWBC__priority_ad9d3684eeccb5f31dcbd0068d2d3b130}\label{classWBC__priority_ad9d3684eeccb5f31dcbd0068d2d3b130}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+\+M\+\_\+inv}
\item 
\mbox{\Hypertarget{classWBC__priority_ac567541e708cee14da44b5e1ff1cbd11}\label{classWBC__priority_ac567541e708cee14da44b5e1ff1cbd11}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+\+Ag}
\item 
\mbox{\Hypertarget{classWBC__priority_a19c84ca7e1268b73b4de35426d026d1c}\label{classWBC__priority_a19c84ca7e1268b73b4de35426d026d1c}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+d\+Ag}
\item 
\mbox{\Hypertarget{classWBC__priority_a87e42205ecc21da740cd68dd97dfc53b}\label{classWBC__priority_a87e42205ecc21da740cd68dd97dfc53b}} 
Eigen\+::\+Vector\+Xd {\bfseries dyn\+\_\+\+Non}
\item 
\mbox{\Hypertarget{classWBC__priority_a03d1a9c1e92ed193b06b4606b3698d71}\label{classWBC__priority_a03d1a9c1e92ed193b06b4606b3698d71}} 
Eigen\+::\+Matrix\+Xd {\bfseries Jc}
\item 
\mbox{\Hypertarget{classWBC__priority_a690988c51a899e4ed196c80326efcba0}\label{classWBC__priority_a690988c51a899e4ed196c80326efcba0}} 
Eigen\+::\+Matrix\+Xd {\bfseries d\+Jc}
\item 
\mbox{\Hypertarget{classWBC__priority_a651f35f4a14fb2dfb41356d69dbaa9c5}\label{classWBC__priority_a651f35f4a14fb2dfb41356d69dbaa9c5}} 
Eigen\+::\+Matrix\+Xd {\bfseries Jfe}
\item 
\mbox{\Hypertarget{classWBC__priority_a364b8179d23d33e89296ad61e352a9db}\label{classWBC__priority_a364b8179d23d33e89296ad61e352a9db}} 
Eigen\+::\+Matrix\+Xd {\bfseries Jfe\+\_\+L}
\item 
\mbox{\Hypertarget{classWBC__priority_ac612a1dc22bf476a8e4fdb430e69eac1}\label{classWBC__priority_ac612a1dc22bf476a8e4fdb430e69eac1}} 
Eigen\+::\+Matrix\+Xd {\bfseries Jfe\+\_\+R}
\item 
\mbox{\Hypertarget{classWBC__priority_ad4278ea3aca9cc98c8c1ff411204e211}\label{classWBC__priority_ad4278ea3aca9cc98c8c1ff411204e211}} 
Eigen\+::\+Matrix\+Xd {\bfseries J\+\_\+hd\+\_\+l}
\item 
\mbox{\Hypertarget{classWBC__priority_ab2950b524448c63af91ce7b713aec947}\label{classWBC__priority_ab2950b524448c63af91ce7b713aec947}} 
Eigen\+::\+Matrix\+Xd {\bfseries J\+\_\+hd\+\_\+r}
\item 
\mbox{\Hypertarget{classWBC__priority_a4912d86b01e6bb6b48e4f8ac60f24cce}\label{classWBC__priority_a4912d86b01e6bb6b48e4f8ac60f24cce}} 
Eigen\+::\+Matrix\+Xd {\bfseries d\+J\+\_\+hd\+\_\+l}
\item 
\mbox{\Hypertarget{classWBC__priority_a5c7a80ed75a31dd24a2732852f12e4b1}\label{classWBC__priority_a5c7a80ed75a31dd24a2732852f12e4b1}} 
Eigen\+::\+Matrix\+Xd {\bfseries d\+J\+\_\+hd\+\_\+r}
\item 
\mbox{\Hypertarget{classWBC__priority_ae7a229982a7799821b343ba032621054}\label{classWBC__priority_ae7a229982a7799821b343ba032621054}} 
Eigen\+::\+Matrix\+Xd {\bfseries Jsw}
\item 
\mbox{\Hypertarget{classWBC__priority_aad3ca89c91e596b1a89da5cbd65c1991}\label{classWBC__priority_aad3ca89c91e596b1a89da5cbd65c1991}} 
Eigen\+::\+Matrix\+Xd {\bfseries d\+Jsw}
\item 
\mbox{\Hypertarget{classWBC__priority_a4440d37fa7fdd00e3b3a5df797d2271a}\label{classWBC__priority_a4440d37fa7fdd00e3b3a5df797d2271a}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+rot\+\_\+sw\+\_\+W}
\item 
\mbox{\Hypertarget{classWBC__priority_a605e33bf1886ad1fe93e120a984b5085}\label{classWBC__priority_a605e33bf1886ad1fe93e120a984b5085}} 
Eigen\+::\+Vector3d {\bfseries fe\+\_\+pos\+\_\+sw\+\_\+W}
\item 
\mbox{\Hypertarget{classWBC__priority_ab25e91d2356c16769cc18c9355338587}\label{classWBC__priority_ab25e91d2356c16769cc18c9355338587}} 
Eigen\+::\+Vector3d {\bfseries hd\+\_\+l\+\_\+pos\+\_\+cur\+\_\+W}
\item 
\mbox{\Hypertarget{classWBC__priority_ada612b26865fc9a977e6cecaa813c6a4}\label{classWBC__priority_ada612b26865fc9a977e6cecaa813c6a4}} 
Eigen\+::\+Vector3d {\bfseries hd\+\_\+r\+\_\+pos\+\_\+cur\+\_\+W}
\item 
\mbox{\Hypertarget{classWBC__priority_a377b89be889b9a1d221e041ec6621f0a}\label{classWBC__priority_a377b89be889b9a1d221e041ec6621f0a}} 
Eigen\+::\+Matrix3d {\bfseries hd\+\_\+l\+\_\+rot\+\_\+cur\+\_\+W}
\item 
\mbox{\Hypertarget{classWBC__priority_a380db2c47e2752ebebe6aab083051f4f}\label{classWBC__priority_a380db2c47e2752ebebe6aab083051f4f}} 
Eigen\+::\+Matrix3d {\bfseries hd\+\_\+r\+\_\+rot\+\_\+cur\+\_\+W}
\item 
\mbox{\Hypertarget{classWBC__priority_a4f55ea86d606fb254b0b743161ff6fff}\label{classWBC__priority_a4f55ea86d606fb254b0b743161ff6fff}} 
Eigen\+::\+Vector\+Xd {\bfseries q}
\item 
\mbox{\Hypertarget{classWBC__priority_a8b1444c9875e783ffff14fbbc73a3fc0}\label{classWBC__priority_a8b1444c9875e783ffff14fbbc73a3fc0}} 
Eigen\+::\+Vector\+Xd {\bfseries dq}
\item 
\mbox{\Hypertarget{classWBC__priority_adacd4ee75f80b37e9fb0779bf9cf98a7}\label{classWBC__priority_adacd4ee75f80b37e9fb0779bf9cf98a7}} 
Eigen\+::\+Vector\+Xd {\bfseries ddq}
\item 
\mbox{\Hypertarget{classWBC__priority_af15ff64b154c8ae1d4567cca12ce01db}\label{classWBC__priority_af15ff64b154c8ae1d4567cca12ce01db}} 
Eigen\+::\+Vector\+Xd {\bfseries Fr\+\_\+ff}
\item 
\mbox{\Hypertarget{classWBC__priority_a328bcfe2189e0f4e6242db7fc945ee06}\label{classWBC__priority_a328bcfe2189e0f4e6242db7fc945ee06}} 
Eigen\+::\+Vector\+Xd {\bfseries delta\+\_\+ddq}
\item 
\mbox{\Hypertarget{classWBC__priority_a29eb5f45b965f751d8c21983313744b3}\label{classWBC__priority_a29eb5f45b965f751d8c21983313744b3}} 
Eigen\+::\+Vector\+Xd {\bfseries delta\+\_\+\+Fr}
\item 
\mbox{\Hypertarget{classWBC__priority_adebd8b10447a44efc435f34d2b9d5a0d}\label{classWBC__priority_adebd8b10447a44efc435f34d2b9d5a0d}} 
Eigen\+::\+Vector\+Xd {\bfseries eigen\+\_\+x\+Opt}
\item 
\mbox{\Hypertarget{classWBC__priority_ad7c5607f6d6a468b81cf035396ee1885}\label{classWBC__priority_ad7c5607f6d6a468b81cf035396ee1885}} 
Eigen\+::\+Vector\+Xd {\bfseries eigen\+\_\+ddq\+\_\+\+Opt}
\item 
\mbox{\Hypertarget{classWBC__priority_a0cfc5cc63af24a7e8d04f4ef360ba20e}\label{classWBC__priority_a0cfc5cc63af24a7e8d04f4ef360ba20e}} 
Eigen\+::\+Vector\+Xd {\bfseries eigen\+\_\+fr\+\_\+\+Opt}
\item 
\mbox{\Hypertarget{classWBC__priority_a78ee8266d45373be050708733b7ac928}\label{classWBC__priority_a78ee8266d45373be050708733b7ac928}} 
Eigen\+::\+Vector\+Xd {\bfseries eigen\+\_\+tau\+\_\+\+Opt}
\item 
\mbox{\Hypertarget{classWBC__priority_af7eb60ca2fb34b7bcd10f488384e7a95}\label{classWBC__priority_af7eb60ca2fb34b7bcd10f488384e7a95}} 
Eigen\+::\+Matrix\+Xd {\bfseries Q1}
\item 
\mbox{\Hypertarget{classWBC__priority_a24cd63af227e80cfabfa7f9265a8270d}\label{classWBC__priority_a24cd63af227e80cfabfa7f9265a8270d}} 
Eigen\+::\+Matrix\+Xd {\bfseries Q2}
\item 
\mbox{\Hypertarget{classWBC__priority_a071214fcca162d0a68d66b7eda3d5a77}\label{classWBC__priority_a071214fcca162d0a68d66b7eda3d5a77}} 
Eigen\+::\+Vector\+Xd {\bfseries delta\+\_\+q\+\_\+final\+\_\+kin}
\item 
\mbox{\Hypertarget{classWBC__priority_a353a58b77c7d3844899a08eccfdc9630}\label{classWBC__priority_a353a58b77c7d3844899a08eccfdc9630}} 
Eigen\+::\+Vector\+Xd {\bfseries dq\+\_\+final\+\_\+kin}
\item 
\mbox{\Hypertarget{classWBC__priority_a914f1b2e9a0c441a6dab2883e5e932a2}\label{classWBC__priority_a914f1b2e9a0c441a6dab2883e5e932a2}} 
Eigen\+::\+Vector\+Xd {\bfseries ddq\+\_\+final\+\_\+kin}
\item 
\mbox{\Hypertarget{classWBC__priority_a1193aad27a9cafd2b447a91fcb252103}\label{classWBC__priority_a1193aad27a9cafd2b447a91fcb252103}} 
Eigen\+::\+Vector\+Xd {\bfseries tau\+Joint\+Res}
\item 
\mbox{\Hypertarget{classWBC__priority_a783f18f6fb7fdde9d0a098adc816bf44}\label{classWBC__priority_a783f18f6fb7fdde9d0a098adc816bf44}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+\+L\+\_\+rot\+\_\+\+L\+\_\+off}
\item 
\mbox{\Hypertarget{classWBC__priority_a480a21e54d4f6d9ce948eaf92c7e6ea4}\label{classWBC__priority_a480a21e54d4f6d9ce948eaf92c7e6ea4}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+\+R\+\_\+rot\+\_\+\+L\+\_\+off}
\item 
\mbox{\Hypertarget{classWBC__priority_a16c781d380edf8222b2e38225a941bf1}\label{classWBC__priority_a16c781d380edf8222b2e38225a941bf1}} 
\mbox{\hyperlink{classPriorityTasks}{Priority\+Tasks}} {\bfseries kin\+\_\+tasks}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}


Definition at line 20 of file wbc\+\_\+priority.\+h.



The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
wbc\+\_\+priority.\+h\item 
wbc\+\_\+priority.\+cpp\end{DoxyCompactItemize}
